Calibration

NOTE: Lerobot installation required. For instructions, refer to Lerobot Setup.

Do the same steps as the follower arm to calibrate the leader arm, run the following command or API example:

python -m lerobot.calibrate \
    --teleop.type=giraffe_leader \
    --teleop.port=/dev/tty.usbmodem58760431551 \ # <- The port of your robot
    --teleop.id=my_leader_arm # <- Give the robot a unique name

from lerobot.common.teleoperators.giraffe_leader import GiraffeLeaderConfig, GiraffeLeader

config = GiraffeLeaderConfig(
    port="/dev/tty.usbmodem58760431551",
    id="my_leader_arm",
)

leader = GiraffeLeader(config)
leader.connect(calibrate=False)
leader.calibrate()
leader.disconnect()